This work is concerned with camera pose estimation from correspondences of3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on largeline sets, which can be efficiently solved by methods using linear formulationof PnL. We propose a novel method "DLT-Combined-Lines" based on the DirectLinear Transformation (DLT) algorithm, which benefits from a new combination oftwo existing DLT methods for pose estimation. The method represents 2Dstructure by lines, and 3D structure by both points and lines. The redundant 3Dinformation reduces the minimum required line correspondences to 5. Acornerstone of the method is a combined projection matri xestimated by the DLTalgorithm. It contains multiple estimates of camera rotation and translation,which can be recovered after enforcing constraints of the matrix. Multiplicityof the estimates is exploited to improve the accuracy of the proposed method.For large line sets (10 and more), the method is comparable to thestate-of-theart in accuracy of orientation estimation. It achievesstate-of-the-art accuracy in estimation of camera position and it yields thesmallest reprojection error under strong image noise. The method achieves top-3results on real world data. The proposed method is also highly computationallyeffective, estimating the pose of 1000 lines in 12 ms on a desktop computer.
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